Self-organized Flocking in Mobile Robots Based on Frontal Interaction and a Leadership Rules
Self-organized Flocking in Mobile Robots Based on Frontal Interaction and a Leadership Rules
复制标题
基于正面交互和领导规则的移动机器人自组织集群
DOI：
10.1109/scis-isis.2014.7044820
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
and Kazuhiro Ohkura
中科院分区：
文献类型：
--
作者：
Toshiyuki Yasuda;Akitoshi Adachi;and Kazuhiro Ohkura
机器人群体中的自组织群集问题已经研究了近二十年，并以Boid模型为例。本文提出了一种机器人在不确定前进方向的情况下进行外部引导的行为模型。传统上，机器人的前进方向是由对齐规则决定的，但由于机械/电气因素，这些规则很难在实际机器人中实现。为了应对这一挑战，我们实施了两个受生物启发的规则：(1)在冲浪滑板中观察到的前沿扇区交互规则，以及(2)从领导者向其同伴传递方向信息的领导者规则。仿真和物理实验验证了该方法的有效性。
Self-organized flocking in a robotic swarm has been investigated for approximately twenty years, and is exemplified by the Boid model. This paper proposes a behavioral model by which robots can be externally guided without consensus on their heading direction. Conventionally the heading direction is determined by alignment rules, but such rules are difficult to implement in real robots because of mechanical/electrical factors. To tackle this challenge, we implement two bio-inspired rules: (1) a frontal-sector interaction rule observed in surf scoters, and (2) a leader rule for passing directional information from the leader to its flockmates. The effectiveness of the proposed method is quantitated in simulations and physical experiments.